RealDex: Towards Human-like Grasping for Robotic Dexterous Hand
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arXiv
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| Main Authors: | , , , , , , , , , , , |
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| Format: | Preprint |
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2024
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| _version_ | 1866915051978358784 |
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| author | Liu, Yumeng Yang, Yaxun Wang, Youzhuo Wu, Xiaofei Wang, Jiamin Yao, Yichen Schwertfeger, Sören Yang, Sibei Wang, Wenping Yu, Jingyi He, Xuming Ma, Yuexin |
| author_facet | Liu, Yumeng Yang, Yaxun Wang, Youzhuo Wu, Xiaofei Wang, Jiamin Yao, Yichen Schwertfeger, Sören Yang, Sibei Wang, Wenping Yu, Jingyi He, Xuming Ma, Yuexin |
| contents | In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and multimodal visual data. Utilizing a teleoperation system, we seamlessly synchronize human-robot hand poses in real time. This collection of human-like motions is crucial for training dexterous hands to mimic human movements more naturally and precisely. RealDex holds immense promise in advancing humanoid robot for automated perception, cognition, and manipulation in real-world scenarios. Moreover, we introduce a cutting-edge dexterous grasping motion generation framework, which aligns with human experience and enhances real-world applicability through effectively utilizing Multimodal Large Language Models. Extensive experiments have demonstrated the superior performance of our method on RealDex and other open datasets. The complete dataset and code will be made available upon the publication of this work. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2402_13853 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | RealDex: Towards Human-like Grasping for Robotic Dexterous Hand Liu, Yumeng Yang, Yaxun Wang, Youzhuo Wu, Xiaofei Wang, Jiamin Yao, Yichen Schwertfeger, Sören Yang, Sibei Wang, Wenping Yu, Jingyi He, Xuming Ma, Yuexin Robotics Artificial Intelligence Computer Vision and Pattern Recognition In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and multimodal visual data. Utilizing a teleoperation system, we seamlessly synchronize human-robot hand poses in real time. This collection of human-like motions is crucial for training dexterous hands to mimic human movements more naturally and precisely. RealDex holds immense promise in advancing humanoid robot for automated perception, cognition, and manipulation in real-world scenarios. Moreover, we introduce a cutting-edge dexterous grasping motion generation framework, which aligns with human experience and enhances real-world applicability through effectively utilizing Multimodal Large Language Models. Extensive experiments have demonstrated the superior performance of our method on RealDex and other open datasets. The complete dataset and code will be made available upon the publication of this work. |
| title | RealDex: Towards Human-like Grasping for Robotic Dexterous Hand |
| topic | Robotics Artificial Intelligence Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2402.13853 |